feat: port update

* set_free_mode -> release_all_servos
* add new port:
    - is_controller_connected
    - set_servo_data
    - get_servo_data
    - set_servo_calibration

Author: zlj-zz

.gitignore

@@ -3,7 +3,6 @@ dist/
 pymycobot.egg-info/
 
 log
-.vscode/
 pymycobot/__pycache__/
 tests/__pycache__/
 
@@ -12,3 +11,6 @@ record.txt
 test_test.py
 
 .DS_Store
+
+.vscode/.ropeproject/config.py
+.vscode/.ropeproject/objectdb

.vscode/settings.json

@@ -0,0 +1,10 @@
+{
+    "cSpell.words": [
+        "Cobot",
+        "mesg",
+        "mycobot",
+        "pymycobot",
+        "struct",
+        "zhang"
+    ]
+}

pymycobot/__init__.py

@@ -2,7 +2,10 @@
 
 __all__ = ["mycobot", "genre"]
 
-__version__ = "2.3.7"
+__version__ = "2.4.0"
 __author__ = "Zachary zhang"
 __email__ = "[email protected]"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"
+
+PI_PORT = "/dev/ttyAMA0"
+PI_BAUD = 1000000

pymycobot/common.py

@@ -6,12 +6,18 @@ class Command:
     HEADER = 0xFE
     FOOTER = 0xFA
 
-    # Overall status
+    # System status
     VERSION = 0x00
+
+    # Overall status
     POWER_ON = 0x10
     POWER_OFF = 0x11
     IS_POWER_ON = 0x12
-    SET_FREE_MODE = 0x13
+    RELEASE_ALL_SERVOS = 0x13
+    IS_CONTROLLER_CONNECTED = 0x14
+    READ_NEXT_ERROR = 0x15
+    SET_FREE_MODE = 0x1A
+    IS_FREE_MODE = 0x1B
 
     # MDI MODE AND OPERATION
     GET_ANGLES = 0x20
@@ -38,12 +44,17 @@ class Command:
     # RUNNING STATUS AND SETTINGS
     GET_SPEED = 0x40
     SET_SPEED = 0x41
+    GET_FEED_OVERRIDE = 0x42
+    GET_ACCELERATION = 0x44
     GET_JOINT_MIN_ANGLE = 0x4A
     GET_JOINT_MAX_ANGLE = 0x4B
 
     # SERVO CONTROL
     IS_SERVO_ENABLE = 0x50
     IS_ALL_SERVO_ENABLE = 0x51
+    SET_SERVO_DATA = 0x52
+    GET_SERVO_DATA = 0x53
+    SET_SERVO_CALIBRATION = 0x54
     RELEASE_SERVO = 0x56
     FOCUS_SERVO = 0x57
 
@@ -60,7 +71,7 @@ class Command:
     IS_GRIPPER_MOVING = 0x69
     SET_COLOR = 0x6A
 
-    # Baisc
+    # Basic
     SET_BASIC_OUTPUT = 0xA0